#ifndef MY_ANGLE_TASK
#define MY_ANGLE_TASK
#include "freertos.h"
#include "task.h"
#include "semphr.h"
#define BU_TIME 140

extern uint8_t my_group;
/*
  L1-1 L1-2 L1-3 L1-4 
	 |
	 
	 R4-1 R4-2 R4-3 R4-4
*/

 const uint8_t stand_arry_1[1][16] = {
		{90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40},
	};
const  uint8_t stand_arry_2[1][16] = {
{90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40},
	};
//const uint8_t run_arry_1[BU_TIME][16] = {
//		{90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40},
//		{90, 30, 60, 50, 90, 30, 60, 50, 90, 30, 60, 50, 90, 30, 60, 50},
//		{90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40},
//	};
const  uint8_t run_arry_2[BU_TIME][16] = {
{90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40},
{90, 30, 60, 50, 90, 30, 60, 50, 90, 30, 60, 50, 90, 30, 60, 50},
{90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40, 90, 45, 75, 40},
	};
const uint8_t run_arry_1[BU_TIME][16] = {
  {
90, 35, 99, 94, 90, 35, 99, 94, 90, 35, 99, 94, 90, 35, 99, 
94},
    {
90, 34, 98, 94, 90, 34, 98, 94, 90, 34, 98, 94, 90, 34, 98, 
94},
    {
90, 34, 97, 95, 90, 34, 97, 95, 90, 34, 97, 95, 90, 34, 97, 
95},
    {
90, 33, 97, 95, 90, 33, 97, 95, 90, 33, 97, 95, 90, 33, 97, 
95},
    {
90, 33, 96, 95, 90, 33, 96, 95, 90, 33, 96, 95, 90, 33, 96, 
95},
    {
90, 32, 95, 94, 90, 32, 95, 94, 90, 32, 95, 94, 90, 32, 95, 
94},
    {
90, 32, 95, 94, 90, 32, 95, 94, 90, 32, 95, 94, 90, 32, 95, 
94},
    {
90, 32, 94, 94, 90, 32, 94, 94, 90, 32, 94, 94, 90, 32, 94, 
94},
    {
90, 31, 93, 94, 90, 31, 93, 94, 90, 31, 93, 94, 90, 31, 93, 
94},
    {
90, 31, 93, 94, 90, 31, 93, 94, 90, 31, 93, 94, 90, 31, 93, 
94},
    {
90, 31, 92, 93, 90, 31, 92, 93, 90, 31, 92, 93, 90, 31, 92, 
93},
    {
90, 31, 91, 93, 90, 31, 91, 93, 90, 31, 91, 93, 90, 31, 91, 
93},
    {
90, 30, 91, 93, 90, 30, 91, 93, 90, 30, 91, 93, 90, 30, 91, 
93},
    {
90, 30, 90, 93, 90, 30, 90, 93, 90, 30, 90, 93, 90, 30, 90, 
93},
    {
90, 30, 89, 93, 90, 30, 89, 93, 90, 30, 89, 93, 90, 30, 89, 
93},
    {
90, 29, 89, 93, 90, 29, 89, 93, 90, 29, 89, 93, 90, 29, 89, 
93},
    {
90, 29, 88, 92, 90, 29, 88, 92, 90, 29, 88, 92, 90, 29, 88, 
92},
    {
90, 28, 87, 92, 90, 28, 87, 92, 90, 28, 87, 92, 90, 28, 87, 
92},
    {
90, 28, 86, 92, 90, 28, 86, 92, 90, 28, 86, 92, 90, 28, 86, 
92},
    {
90, 27, 86, 92, 90, 27, 86, 92, 90, 27, 86, 92, 90, 27, 86, 
92},
    {
90, 27, 85, 92, 90, 27, 85, 92, 90, 27, 85, 92, 90, 27, 85, 
92},
    {
90, 26, 84, 92, 90, 26, 84, 92, 90, 26, 84, 92, 90, 26, 84, 
92},
    {
90, 26, 83, 91, 90, 26, 83, 91, 90, 26, 83, 91, 90, 26, 83, 
91},
    {
90, 25, 82, 91, 90, 25, 82, 91, 90, 25, 82, 91, 90, 25, 82, 
91},
    {
90, 25, 82, 91, 90, 25, 82, 91, 90, 25, 82, 91, 90, 25, 82, 
91},
    {
90, 24, 81, 91, 90, 24, 81, 91, 90, 24, 81, 91, 90, 24, 81, 
91},
    {
90, 24, 80, 90, 90, 24, 80, 90, 90, 24, 80, 90, 90, 24, 80, 
90},
    {
90, 24, 79, 90, 90, 24, 79, 90, 90, 24, 79, 90, 90, 24, 79, 
90},
    {
90, 23, 79, 89, 90, 23, 79, 89, 90, 23, 79, 89, 90, 23, 79, 
89},
    {
90, 23, 78, 89, 90, 23, 78, 89, 90, 23, 78, 89, 90, 23, 78, 
89},
    {
90, 23, 77, 89, 90, 23, 77, 89, 90, 23, 77, 89, 90, 23, 77, 
89},
    {
90, 23, 76, 88, 90, 23, 76, 88, 90, 23, 76, 88, 90, 23, 76, 
88},
    {
90, 23, 76, 88, 90, 23, 76, 88, 90, 23, 76, 88, 90, 23, 76, 
88},
    {
90, 23, 75, 87, 90, 23, 75, 87, 90, 23, 75, 87, 90, 23, 75, 
87},
    {
90, 24, 74, 87, 90, 24, 74, 87, 90, 24, 74, 87, 90, 24, 74, 
87},
    {
90, 24, 74, 86, 90, 24, 74, 86, 90, 24, 74, 86, 90, 24, 74, 
86},
    {
90, 24, 73, 86, 90, 24, 73, 86, 90, 24, 73, 86, 90, 24, 73, 
86},
    {
90, 24, 73, 85, 90, 24, 73, 85, 90, 24, 73, 85, 90, 24, 73, 
85},
    {
90, 25, 72, 84, 90, 25, 72, 84, 90, 25, 72, 84, 90, 25, 72, 
84},
    {
90, 25, 72, 84, 90, 25, 72, 84, 90, 25, 72, 84, 90, 25, 72, 
84},
    {
90, 26, 71, 83, 90, 26, 71, 83, 90, 26, 71, 83, 90, 26, 71, 
83},
    {
90, 27, 71, 83, 90, 27, 71, 83, 90, 27, 71, 83, 90, 27, 71, 
83},
    {
90, 27, 70, 82, 90, 27, 70, 82, 90, 27, 70, 82, 90, 27, 70, 
82},
    {
90, 28, 70, 81, 90, 28, 70, 81, 90, 28, 70, 81, 90, 28, 70, 
81},
    {
90, 29, 69, 81, 90, 29, 69, 81, 90, 29, 69, 81, 90, 29, 69, 
81},
    {
90, 29, 69, 80, 90, 29, 69, 80, 90, 29, 69, 80, 90, 29, 69, 
80},
    {
90, 30, 69, 79, 90, 30, 69, 79, 90, 30, 69, 79, 90, 30, 69, 
79},
    {
90, 31, 68, 79, 90, 31, 68, 79, 90, 31, 68, 79, 90, 31, 68, 
79},
    {
90, 32, 68, 78, 90, 32, 68, 78, 90, 32, 68, 78, 90, 32, 68, 
78},
    {
90, 33, 67, 77, 90, 33, 67, 77, 90, 33, 67, 77, 90, 33, 67, 
77},
    {
90, 34, 67, 77, 90, 34, 67, 77, 90, 34, 67, 77, 90, 34, 67, 
77},
    {
90, 34, 67, 76, 90, 34, 67, 76, 90, 34, 67, 76, 90, 34, 67, 
76},
    {
90, 35, 66, 75, 90, 35, 66, 75, 90, 35, 66, 75, 90, 35, 66, 
75},
    {
90, 36, 66, 74, 90, 36, 66, 74, 90, 36, 66, 74, 90, 36, 66, 
74},
    {
90, 37, 65, 74, 90, 37, 65, 74, 90, 37, 65, 74, 90, 37, 65, 
74},
    {
90, 38, 65, 73, 90, 38, 65, 73, 90, 38, 65, 73, 90, 38, 65, 
73},
    {
90, 39, 64, 72, 90, 39, 64, 72, 90, 39, 64, 72, 90, 39, 64, 
72},
    {
90, 40, 64, 71, 90, 40, 64, 71, 90, 40, 64, 71, 90, 40, 64, 
71},
    {
90, 40, 63, 71, 90, 40, 63, 71, 90, 40, 63, 71, 90, 40, 63, 
71},
    {
90, 41, 63, 70, 90, 41, 63, 70, 90, 41, 63, 70, 90, 41, 63, 
70},
    {
90, 42, 62, 69, 90, 42, 62, 69, 90, 42, 62, 69, 90, 42, 62, 
69},
    {
90, 43, 62, 68, 90, 43, 62, 68, 90, 43, 62, 68, 90, 43, 62, 
68},
    {
90, 44, 61, 68, 90, 44, 61, 68, 90, 44, 61, 68, 90, 44, 61, 
68},
    {
90, 45, 61, 67, 90, 45, 61, 67, 90, 45, 61, 67, 90, 45, 61, 
67},
    {
90, 46, 60, 66, 90, 46, 60, 66, 90, 46, 60, 66, 90, 46, 60, 
66},
    {
90, 47, 59, 65, 90, 47, 59, 65, 90, 47, 59, 65, 90, 47, 59, 
65},
    {
90, 48, 59, 64, 90, 48, 59, 64, 90, 48, 59, 64, 90, 48, 59, 
64},
    {
90, 49, 58, 63, 90, 49, 58, 63, 90, 49, 58, 63, 90, 49, 58, 
63},
    {
90, 51, 58, 62, 90, 51, 58, 62, 90, 51, 58, 62, 90, 51, 58, 
62},
    {
90, 51, 57, 62, 90, 51, 57, 62, 90, 51, 57, 62, 90, 51, 57, 
62},
    {
90, 51, 58, 60, 90, 51, 58, 60, 90, 51, 58, 60, 90, 51, 58, 
60},
    {
90, 50, 59, 61, 90, 50, 59, 61, 90, 50, 59, 61, 90, 50, 59, 
61},
    {
90, 50, 59, 62, 90, 50, 59, 62, 90, 50, 59, 62, 90, 50, 59, 
62},
    {
90, 49, 60, 62, 90, 49, 60, 62, 90, 49, 60, 62, 90, 49, 60, 
62},
    {
90, 49, 60, 63, 90, 49, 60, 63, 90, 49, 60, 63, 90, 49, 60, 
63},
    {
90, 49, 61, 64, 90, 49, 61, 64, 90, 49, 61, 64, 90, 49, 61, 
64},
    {
90, 48, 61, 64, 90, 48, 61, 64, 90, 48, 61, 64, 90, 48, 61, 
64},
    {
90, 48, 62, 65, 90, 48, 62, 65, 90, 48, 62, 65, 90, 48, 62, 
65},
    {
90, 48, 63, 66, 90, 48, 63, 66, 90, 48, 63, 66, 90, 48, 63, 
66},
    {
90, 47, 63, 66, 90, 47, 63, 66, 90, 47, 63, 66, 90, 47, 63, 
66},
    {
90, 47, 64, 67, 90, 47, 64, 67, 90, 47, 64, 67, 90, 47, 64, 
67},
    {
90, 47, 64, 67, 90, 47, 64, 67, 90, 47, 64, 67, 90, 47, 64, 
67},
    {
90, 46, 65, 68, 90, 46, 65, 68, 90, 46, 65, 68, 90, 46, 65, 
68},
    {
90, 46, 65, 69, 90, 46, 65, 69, 90, 46, 65, 69, 90, 46, 65, 
69},
    {
90, 46, 66, 69, 90, 46, 66, 69, 90, 46, 66, 69, 90, 46, 66, 
69},
    {
90, 46, 66, 70, 90, 46, 66, 70, 90, 46, 66, 70, 90, 46, 66, 
70},
    {
90, 45, 67, 71, 90, 45, 67, 71, 90, 45, 67, 71, 90, 45, 67, 
71},
    {
90, 45, 67, 71, 90, 45, 67, 71, 90, 45, 67, 71, 90, 45, 67, 
71},
    {
90, 45, 68, 72, 90, 45, 68, 72, 90, 45, 68, 72, 90, 45, 68, 
72},
    {
90, 45, 68, 72, 90, 45, 68, 72, 90, 45, 68, 72, 90, 45, 68, 
72},
    {
90, 44, 69, 73, 90, 44, 69, 73, 90, 44, 69, 73, 90, 44, 69, 
73},
    {
90, 44, 70, 74, 90, 44, 70, 74, 90, 44, 70, 74, 90, 44, 70, 
74},
    {
90, 44, 70, 74, 90, 44, 70, 74, 90, 44, 70, 74, 90, 44, 70, 
74},
    {
90, 44, 71, 75, 90, 44, 71, 75, 90, 44, 71, 75, 90, 44, 71, 
75},
    {
90, 43, 71, 75, 90, 43, 71, 75, 90, 43, 71, 75, 90, 43, 71, 
75},
    {
90, 43, 72, 76, 90, 43, 72, 76, 90, 43, 72, 76, 90, 43, 72, 
76},
    {
90, 43, 72, 77, 90, 43, 72, 77, 90, 43, 72, 77, 90, 43, 72, 
77},
    {
90, 43, 73, 77, 90, 43, 73, 77, 90, 43, 73, 77, 90, 43, 73, 
77},
    {
90, 42, 73, 78, 90, 42, 73, 78, 90, 42, 73, 78, 90, 42, 73, 
78},
    {
90, 42, 74, 78, 90, 42, 74, 78, 90, 42, 74, 78, 90, 42, 74, 
78},
    {
90, 42, 74, 79, 90, 42, 74, 79, 90, 42, 74, 79, 90, 42, 74, 
79},
    {
90, 42, 75, 80, 90, 42, 75, 80, 90, 42, 75, 80, 90, 42, 75, 
80},
    {
90, 42, 75, 80, 90, 42, 75, 80, 90, 42, 75, 80, 90, 42, 75, 
80},
    {
90, 41, 76, 81, 90, 41, 76, 81, 90, 41, 76, 81, 90, 41, 76, 
81},
    {
90, 41, 76, 81, 90, 41, 76, 81, 90, 41, 76, 81, 90, 41, 76, 
81},
    {
90, 41, 77, 82, 90, 41, 77, 82, 90, 41, 77, 82, 90, 41, 77, 
82},
    {
90, 41, 77, 82, 90, 41, 77, 82, 90, 41, 77, 82, 90, 41, 77, 
82},
    {
90, 41, 78, 83, 90, 41, 78, 83, 90, 41, 78, 83, 90, 41, 78, 
83},
    {
90, 40, 79, 83, 90, 40, 79, 83, 90, 40, 79, 83, 90, 40, 79, 
83},
    {
90, 40, 79, 84, 90, 40, 79, 84, 90, 40, 79, 84, 90, 40, 79, 
84},
    {
90, 40, 80, 84, 90, 40, 80, 84, 90, 40, 80, 84, 90, 40, 80, 
84},
    {
90, 40, 80, 85, 90, 40, 80, 85, 90, 40, 80, 85, 90, 40, 80, 
85},
    {
90, 40, 81, 85, 90, 40, 81, 85, 90, 40, 81, 85, 90, 40, 81, 
85},
    {
90, 40, 81, 86, 90, 40, 81, 86, 90, 40, 81, 86, 90, 40, 81, 
86},
    {
90, 39, 82, 86, 90, 39, 82, 86, 90, 39, 82, 86, 90, 39, 82, 
86},
    {
90, 39, 83, 87, 90, 39, 83, 87, 90, 39, 83, 87, 90, 39, 83, 
87},
    {
90, 39, 83, 87, 90, 39, 83, 87, 90, 39, 83, 87, 90, 39, 83, 
87},
    {
90, 39, 84, 87, 90, 39, 84, 87, 90, 39, 84, 87, 90, 39, 84, 
87},
    {
90, 39, 84, 88, 90, 39, 84, 88, 90, 39, 84, 88, 90, 39, 84, 
88},
    {
90, 39, 85, 88, 90, 39, 85, 88, 90, 39, 85, 88, 90, 39, 85, 
88},
    {
90, 39, 86, 89, 90, 39, 86, 89, 90, 39, 86, 89, 90, 39, 86, 
89},
    {
90, 38, 86, 89, 90, 38, 86, 89, 90, 38, 86, 89, 90, 38, 86, 
89},
    {
90, 38, 87, 90, 90, 38, 87, 90, 90, 38, 87, 90, 90, 38, 87, 
90},
    {
90, 38, 87, 90, 90, 38, 87, 90, 90, 38, 87, 90, 90, 38, 87, 
90},
    {
90, 38, 88, 91, 90, 38, 88, 91, 90, 38, 88, 91, 90, 38, 88, 
91},
    {
90, 38, 89, 91, 90, 38, 89, 91, 90, 38, 89, 91, 90, 38, 89, 
91},
    {
90, 38, 89, 91, 90, 38, 89, 91, 90, 38, 89, 91, 90, 38, 89, 
91},
    {
90, 38, 90, 92, 90, 38, 90, 92, 90, 38, 90, 92, 90, 38, 90, 
92},
    {
90, 38, 90, 92, 90, 38, 90, 92, 90, 38, 90, 92, 90, 38, 90, 
92},
    {
90, 38, 91, 93, 90, 38, 91, 93, 90, 38, 91, 93, 90, 38, 91, 
93},
    {
90, 38, 92, 93, 90, 38, 92, 93, 90, 38, 92, 93, 90, 38, 92, 
93},
    {
90, 38, 92, 93, 90, 38, 92, 93, 90, 38, 92, 93, 90, 38, 92, 
93},
    {
90, 38, 93, 94, 90, 38, 93, 94, 90, 38, 93, 94, 90, 38, 93, 
94},
    {
90, 38, 93, 94, 90, 38, 93, 94, 90, 38, 93, 94, 90, 38, 93, 
94},
    {
90, 38, 94, 95, 90, 38, 94, 95, 90, 38, 94, 95, 90, 38, 94, 
95},
    {
90, 38, 95, 95, 90, 38, 95, 95, 90, 38, 95, 95, 90, 38, 95, 
95},
    {
90, 38, 95, 95, 90, 38, 95, 95, 90, 38, 95, 95, 90, 38, 95, 
95},
    {
90, 38, 96, 96, 90, 38, 96, 96, 90, 38, 96, 96, 90, 38, 96, 
96},
    {
90, 38, 97, 96, 90, 38, 97, 96, 90, 38, 97, 96, 90, 38, 97, 
96},
    {
90, 38, 97, 96, 90, 38, 97, 96, 90, 38, 97, 96, 90, 38, 97, 
96},
};
	
	
#endif


